\documentclass{article}
\usepackage{amssymb,amsmath,amscd,concmath}
\pagestyle{empty}
\begin{document}
\begin{equation*} p(\textbf{x}_k | \textbf{x}_{k-1}) = N(\textbf{x}_k, \textbf{F}_k\textbf{x}_{k-1}, \textbf{Q}_k)\end{equation*}
\end{document}
